KR20210048936A - Patient weight burden reduction device of walking rehabilitation training robot - Google Patents

Abstract

The present invention relates to a patient weight burden reduction device for a walking rehabilitation training robot. According to the present invention, the patient weight burden reduction device comprises: a main body including a control unit; an exercise motion output unit supported to the main body and outputting a walking exercise motion while being locked to both legs of a patient; a lift device installed on the upper part of the exercise motion output unit and providing a lifting force to the patient to reduce a weight burden transferred to the patient's leg; a load sensing unit mounted on the lift device to sense the patient's weight applied to the lift device; and a load display unit connected to the load sensing unit and displaying content sensed by the load sensing unit, wherein the lift device includes an actuator lifting the patient by receiving a control signal from the control unit. Accordingly, since the weight burden on the patient is reduced through control of the lift device capable of lifting the patient, even severely disabled patients who cannot stand on their own can do rehabilitation treatment. In addition, since the patient hangs on the lift device while wearing a harness, there is no worry about falling forward even if the patient loses balance during rehabilitation training, and thus the walking rehabilitation training robot can be used safely.

Description

Patient weight burden reduction device of walking rehabilitation training robot}

The present invention relates to a gait rehabilitation training robot that assists the rehabilitation exercise of a patient with discomfort in the legs, and more particularly, the effect of rehabilitation training by lifting a patient wearing a harness with a set force to reduce the weight burden on the patient. It relates to a device for reducing the patient's weight burden of a gait rehabilitation training robot that can be elevated.

With the aging of the population, the number of patients with various senile diseases such as dementia, stroke or Parkinson's disease is also increasing. It is important to recover or maintain muscle strength through physical rehabilitation treatment in addition to drug treatment for the elderly who are uncomfortable with such senile diseases. In addition, even if it is not a senile disease, rehabilitation training is essential for functional recovery or muscle strengthening of the damaged area even in the case of a person whose lower body is uncomfortable due to an accident or a patient with cerebral palsy.

The important thing in rehabilitation training is that scientific and systematic efforts must be carried out in the long term. However, in order to perform rehabilitation training for a long time, a lot of physical effort and skill level of a physical therapist are required. However, in reality, it is difficult to conduct continuous and effective rehabilitation training in a situation where a single bully therapist has to do rehabilitation training for several people.

In order to solve this problem, various mechanical and electronic devices for rehabilitation training have been developed and used. For example, walking aids that assist in gait training and upper limb rehabilitation devices that support upper body behavior such as shoulders and restore muscle strength are also being developed.

The gait rehabilitation training robot assists a rehabilitation exercise to restore the gait ability of a person who temporarily loses gait ability, or assists a person who has permanently lost some gait ability to walk alone.

As such a device for assisting the patient's walking, there is also Korean Patent Publication No. 10-1221046 (an intelligent exoskeleton robot-based daily life assistance and rehabilitation training system). However, in the conventional rehabilitation training system, it is difficult to accurately fit the device to the user's body, so it is difficult to wear, and in severe cases, it may cause abrasion or skin necrosis.

In addition, Korean Patent Publication No. 10-1979938 (Walking Assist Robot) discloses a pair of exoskeletons that are worn on the patient's legs to provide a walking motion, and a body that controls the exoskeleton and has driving capability Has been. However, since the walking aid robot requires the patient to stand on the exoskeleton of the lower extremity, the patient's weight is carried on the leg as it is, so that a patient with a weak joint may rather suffer joint damage. In particular, in the case of severely ill patients, such as severely ill patients who have no choice but to lie in bed, it was almost impossible to receive the assistance of a walking aid robot because the legs were completely weak.

Domestic Patent Publication No. 10-1221046 (Intelligent exoskeleton robot-based daily life assistance and rehabilitation training system) Korean Registered Patent Publication No. 10-1979938 (pedestrian assistant robot)

The present invention was created to solve the above problems, and through the control of a lift device capable of suspending the patient, the weight burden applied to the patient is reduced, so that even severely ill patients who cannot stand alone can receive rehabilitation treatment as much as possible. The purpose of this study is to provide a device for reducing the patient's weight burden of a gait rehabilitation training robot.

The patient weight reduction device of the gait rehabilitation robot of the present invention as a solution to the problem to achieve the above object is a body having a control unit, supported by the body and outputting a walking motion motion in a state filled in both legs of the patient. It is mounted on a walking rehabilitation training robot having an exercise motion output unit, a lift device installed on the upper part of the exercise motion output unit and reducing the weight burden transmitted to the patient's leg by providing a lifting force to the patient. A load sensing unit that is mounted and senses the weight of the patient applied to the lift device; And a load display unit connected to the load sensing unit and displaying content detected by the load sensing unit, and the lift device includes an actuator for lifting a patient by receiving a control signal from the control unit.

In addition, an input/output unit connected to the control unit and inputting a required lifting force according to a patient's condition is further provided to allow the control unit to control the actuator operation.

In addition, the lift device; A support beam fixed to the main body and extending upward, a boom that is linearly extended in the longitudinal direction and has a guide rail at the top thereof and is rotatably linked to the support beam through a link pin, and the length of the guide rail by being coupled to the guide rail A lifting arm slidable along a direction, a hanger connected to a distal end of the lifting arm and transferring a patient's weight to the lifting arm, wherein the actuator comprises; A first linear actuator for sliding the lifting arm while mounted on the boom, and a second linear actuator for lifting the hanger by rotating the boom based on a link pin, and the load sensing unit includes the lifting It is a load cell that is installed between the arm and the hanger and detects the weight of the patient being caught on the hanger.

In addition, the hanger takes the form of a bar extending in the longitudinal direction, and a belt fixing portion for fixing the lifting belt of the patient harness is provided at both ends of the hanger.

In addition, the belt fixing portion; A support housing extending relatively longer than the width of the lifting belt and having an internal space, a releasing button provided at one end of the support housing, and waiting in a state inserted into the support housing, and rotating upward when the releasing button is pressed And, it includes a rotating jaw that rotates downward while the belt has passed to the top of the support housing and is fitted into the inside of the support housing together with the belt, so that the belt is fixed to the support housing.

The patient weight burden reduction device of the walking rehabilitation robot of the present invention made as described above reduces the weight burden applied to the patient through the control of a lift device capable of suspending the patient, and is severely unable to stand alone. Patients can do rehabilitation treatment as much as possible.

In addition, since the patient hangs on the lift device while wearing the harness, it can be safely used because there is no fear of falling forward even if the patient loses balance during rehabilitation training.

1 is a block diagram showing the basic structure of a patient weight burden reduction apparatus of a gait rehabilitation training robot according to an embodiment of the present invention.
2 is a perspective view showing a gait rehabilitation training robot to which a patient's weight burden reduction device of the gait rehabilitation training robot according to an embodiment of the present invention is applied.
3 is a perspective view separately showing the load sensing unit and the hanger shown in FIG. 2.
4 to 7 are views for explaining the operation of the walking rehabilitation training robot according to an embodiment of the present invention.
8 is a block diagram illustrating the operation of the gait rehabilitation training robot according to an embodiment of the present invention.

Hereinafter, one embodiment according to the present invention will be described in more detail with reference to the accompanying drawings.

The patient's weight burden reduction apparatus of the present invention lifts a patient using a lift device to reduce the weight applied to the patient's leg, thereby enabling rehabilitation training as much as possible even in the case of severely ill patients with little leg strength.

Such a reduction device includes a main body having a control unit, an exercise motion output unit that is supported by the main body and outputs a walking motion motion while being filled in both legs of the patient, and is installed on the upper part of the exercise motion output unit and provides a lifting force to the patient. As a result of being mounted on a walking rehabilitation robot having a lift device for reducing the weight burden transmitted to the leg of the patient, a load sensing unit mounted on the lift device to sense the weight of the patient applied to the lift device; It is connected to the load sensing unit and includes a load display unit for displaying the content sensed by the load sensing unit, and the lift device has a basic configuration including an actuator for lifting a patient by receiving a control signal from the control unit.

1 is a block diagram showing the basic structure of a patient weight burden reduction apparatus of a gait rehabilitation training robot according to an embodiment of the present invention.

As shown, the patient weight burden reduction device according to the present embodiment includes a control unit 25, an input/output unit 29, a load sensing unit 70, a load display unit 27, a hanger 80, and a first linear unit. It includes an actuator 64 and a second linear actuator 67.

These components are scattered in the gait rehabilitation training robot 10 shown in FIG. 2, and its function is to lift the body of the patient wearing the harness 90 to the top, thereby reducing the weight burden on the patient's leg. It is to alleviate.

The controller 25 is installed in the main body 20 and controls the operation of the rehabilitation training robot 10, and has a memory like a general computer. In addition, the input/output unit 29 is a touch panel that inputs patient information such as the name, height, weight, and degree of disability of an individual patient, and displays contents provided by the control unit 25.

The load sensing unit 70 senses the weight of the patient transmitted through the hanger 80 and transmits it to the control unit 25. A load cell can be applied as the load sensing unit 70. The load display unit 27 displays weight information detected by the load detection unit and informs the physical therapist, manager, or nurse.

In addition, the first and second linear actuators 64 and 67 serve to lift the patient hanging from the hanger 80 and move it to the motor motion output unit 40. These components are applied to the gait rehabilitation training robot 10 shown in FIG.

2 is a perspective view showing a walking rehabilitation training robot 10 to which a patient weight burden reduction device is applied. In addition, FIG. 3 is a perspective view separately showing the load sensing unit 70 and the hanger 80 shown in FIG. 2. 4 to 7 are views for explaining the operation of the gait rehabilitation training robot, and FIG. 8 is a block diagram illustrating the operation of the gait rehabilitation training robot. The structure and operation principle of the walking rehabilitation robot 10 will be described with reference to the structure of the weight burden reduction device of the present invention.

As shown, the walking rehabilitation training robot 10 has a basic configuration of a main body 20, an exercise motion output unit 40, and a lift device 60.

In addition, the main body 20 has a base frame 21, a body frame 23, a control unit 25, and a load display unit 27.

The base frame 21 is to support and support the walking rehabilitation robot 10 horizontally, and a motor ( 22a).

The body frame 23 has a hexahedral case 23a and a battery 23b. The case 23a is fixed on the base frame 21 and supports the control unit 25 and the lift device 60. Further, the battery 23b supplies electric power to the motor 22a and the first and second linear actuators 64 and 67. The battery 23b is a rechargeable battery, and allows the walking rehabilitation training robot to move to a long distance like an electric vehicle. The distance is the distance required for rehabilitation training.

The control unit 25 includes a fixed box 25a and a controller 25b. The controller 25b outputs all control signals required for the operation of the walking rehabilitation robot 10. The fixed box 25a takes the shape of a hexahedron and has vertical lifting guide rails 25c on both sides. The lifting guide rail 25c supports the position holding part 41 so as to be able to move up and down.

A load display unit 27 and an input/output unit 29 are installed on the upper part of the fixed box 25a. The load display unit 27 is a display window that displays a load applied to the hanger 80. That is, the weight of the patient hanging on the hanger 80 while wearing the harness 90, which will be described later, is displayed. The manager or physical therapist relieves the patient's weight burden by appropriately adjusting the lifting force of the lift device 60 through the load display unit 27.

Depending on the patient's condition, when there is little force on the leg and cannot even stand, the lift device 60 is used to almost hang the patient so that the patient's leg is not put on weight. For example, if a patient with a weight of 50 kg can hardly use the leg, the patient is kept in a lifted state with a force of, for example, 45 kg, and the patient's leg is charged with only 5 kg of weight. The lifting force using the lift device 60 is appropriately designed according to the patient's condition. The force by which the lift device 60 lifts the patient will be referred to as a lifting force.

The input/output unit 29 is a touch screen capable of inputting an operation of the walking rehabilitation robot 10 or displaying a patient's exercise amount, exercise time, pulse, etc. during training. When several people use the walking rehabilitation training robot 10, the patient's name, height, weight, degree of disability, exercise method, etc. are input and saved, and when the patient rehabilitates, the stored contents are displayed and walked. The rehabilitation training robot 10 is set to fit the patient's body shape. In addition to the input/output unit 29, a separate gripping type controller may be further provided.

The motion motion output unit 40 includes a position maintaining unit 41 and a lower extremity movement unit 43. The lower extremity exercise part 43 moves the left and right legs of the patient, and the position maintaining part 41 serves to fix the position of the lower extremity exercise part 43 in a set state.

The position holding part 41 is supported by each of the lifting guide rails 25c and is slidable on the horizontal guide rail 41b connecting the vertical slider 41a and the vertical slider 41a for lifting and lowering. It consists of a pair of horizontal sliders (41c) that are installed so as to be, and connecting arms (41d) that are fixed to the ends of each horizontal slider (41c). The connecting arm 41d can be positioned horizontally and vertically.

The lower limb exercise part 43 serves to provide a walking motion motion in a state in which the patient's left and right legs are engaged, and are supported by the left and right connecting arms 41d.

The lower extremity exercise part 43 is fixed to the first joint block 43a and the first joint block 43a, which are disposed corresponding to the hip joint part of the patient, and extends downwardly, the first rotating arm 43c, and the first rotating arm ( A second rotation that is fixed to the first motor 43b that rotates 43c) back and forth, the second joint block 43e installed at the lower end of the first rotating arm 43c, and the second joint block 43e and extends downward The arm (43g), the second motor (43f) for rotating the second rotating arm (43g) back and forth, the footrest (43k) provided at the lower end of the second rotating arm (43g), the inside of the first rotating arm (43c) It includes a thigh holder (43d) to be coupled, a lower leg holder (43h) installed on the inside of the second rotary arm (43g).

In addition, an armrest 46 and a driving control stick 47 are positioned above the first joint block 43a. The patient manipulates the driving control stick 47 with his/her finger while putting his arm on the armrest 46, and outputs driving, stopping, and left and right turn signals. In the case of a patient who cannot use a hand, the travel control stick 47 is operated by the therapist accompanying it.

With the patient standing on the footrest (43k), fixing the thigh holder (43d) to the thigh, the lower leg holder (43h) to the lower leg, and attaching the waist to the lumbar support (45), a start button (not shown). When is pressed, the first motor 43b and the second motor 43f rotate the first and second rotating arms 43c and 43g at a constant speed under the control of the controller 25b to output a walking motion motion. The patient can perform walking rehabilitation training by receiving mechanical force.

The lift device 60 is used when the patient cannot stand on its own. The lift device 60 provides a lifting force to the patient so that the patient can stand on the motion motion output unit 40. The lift device 60 includes a support beam 61, a boom 63, a lifting arm 65, a hanger 80, and first and second rear actuators 64 and 67.

The support beam 61 is fixed to the main body 20 through the lower fixing plate 61a and the upper fixing plate 61b, and extends vertically upward and takes a shape curved rearward. In addition, a boom holder part 61c is provided at the upper end of the support beam 61. The boom holder part 61c is connected to the boom 63 through a link pin 61d while accommodating the boom 63. The boom 63 is connected to the boom holder 61c and uses the link pin 61d as a rotation shaft, and can rotate in the direction of arrows a and b.

In addition, a support bracket 61e is fixed to a lower portion of the upper fixing plate 61b. The support bracket 61e serves as a support for supporting the lower end of the second linear actuator 67.

The boom 63 is a rod-shaped member extending straight in the longitudinal direction and has a guide rail 63a on its upper part. The guide rail 63a supports the slider 65b of the lifting arm 65 and guides the linear motion of the lifting arm 65 in the direction of the arrow c and the opposite direction.

In addition, a first linear actuator 64 is installed on the top of the boom 63. The first re-actuator 64 serves to linearly move the lifting arm 65, and a motor 64a fixed to the rear end of the boom 63, an extension tube 64b extending in the longitudinal direction, and an extension tube It has a shaft rotation shaft (not shown) installed inside the (64b).

A male thread is formed at an end of the shaft rotation shaft. The male threaded portion engages with a female threaded portion (not shown) formed inside the arm body 65a of the lifting arm. It goes without saying that the lifting arm 65 moves linearly as the shaft rotation shaft rotates. In some cases, the first linear actuator 64 may be replaced with a hydraulic actuator having a hydraulic cylinder and a piston rod.

A second linear actuator 67 is installed between the front end of the boom 63 and the support bracket 61e. The second linear actuator 67 has a motor 67a, an extension tube 67b, and an actuating rod 67c supported by the support bracket 61e. The operation rod 67c is a linear member that moves linearly while being supported by the extension tube 67b, and its upper end is connected to the link bracket 63b through a connection pin 63c. It goes without saying that the boom 63 rotates by moving the actuating rod 67c in the direction of the arrow d and the opposite direction.

On the other hand, the lifting arm 65 includes a slider 65b that can slide in the longitudinal direction while being supported by the guide rail 63a, and an arm body 65a that is fixed to the slider 65b and extends forward. . The arm body 65a extends forward, takes a shape curved downward, and has a load sensing portion 70 at the tip. The load sensing unit 70 is a load cell and is connected to the controller 25b and the load display unit 27 through a signal cable. The weight information of the patient applied to the load sensing unit 70 is simultaneously transmitted to the controller 25b and the load display unit 27, and in particular, can be checked in real time through the load display unit 27.

A connection block 74, a bearing 73, and a hanger 80 are connected to the lower portion of the load sensing unit 70. The connection block 74 serves to link the bearing 73 to the load sensing unit 70 and takes the shape of a U-shaped open to the top.

In addition, in order to connect the connection block 74 to the load sensing unit 70, the eye bolt 71 is fixed to the lower side of the load sensing unit 70. The eyebolt 71 is linked to the connection pin 75 while being inserted into the inner side of the connection block 74. The connection pin 75 is fixed to the connection block 74 and is inserted into the eye bolt 71 to maintain the coupled state.

The bearing 73 is coupled to the horizontal bar 81 of the hanger 80 and the bottom surface of the connection block 74, and supports the hanger 80 so as to be rotatable in the direction of the arrow d or the opposite direction.

The hanger 80 has a horizontal bar 81 extending in the longitudinal direction and a belt fixing portion 83 positioned at both ends of the horizontal bar 81. The bearing 73 is located at the center of the horizontal bar 81 in the longitudinal direction. The central part is also the center of gravity of the horizontal bar. The horizontal bar 81 has a cross-sectional structure that is not bent by the weight of the patient because it is a part on which the patient's weight is carried.

As shown in FIG. 2, the belt fixing part 83 has the structure of FIG. 3 by biting and fixing the lifting belt 93 of the harness 90. As shown in FIG. As shown in FIG. 3, the belt fixing part 83 has a support housing 83a, a releasing button 83c, and a rotating jaw 83d.

The belt fixing part 83 extends in the longitudinal direction of the horizontal bar 81 and provides an inner space 83b. The length of the belt fixing part 83 is relatively longer than the width of the lifting belt 93, so that the lifting belt 93 can be strung across the belt fixing part 83.

In addition, a releasing button 83c is provided at one end of the belt fixing part 83. As shown in FIG. 2, the releasing button 83c keeps the rotating jaw 83d closed while the rotating jaw 83d is closed, and when it is pressed in the direction of the arrow f when necessary, the rotating jaw ( 83d) open to the top.

The rotary jaw 83d is a rod-shaped member extending in the longitudinal direction, and is connected with a pin (not shown) inside the support housing 83a and rotates up and down around the pin. A spring (not shown) for supporting upward elasticity of the rotating jaw 83d is built into the support housing 83a.

In addition, a locking protrusion 83e is provided at the tip of the rotary jaw 83d. The locking protrusion 83e maintains a state caught by the locking jaw (not shown) formed on the releasing button 83c while completely lowering the rotary jaw 83d in the direction of arrow g. The locking protrusion 83e is released from the locking protrusion by pressing the releasing button 83c and is moved upward.

The rotating jaw (83d) descends in the direction of the arrow g in the state where the lifting belt (93) is over the support housing (83a) and is inserted into the inner space (83b) together with the lifting belt to bite the lifting belt (93) and fix it. At this time, it is as described above that the locking protrusion 83e is caught and supported by the locking protrusion.

On the other hand, the harness 90 is a safety equipment worn by a patient for rehabilitation training, and includes a harness body 91 and a lifting belt 93. The harness body 91 is worn on the hip and upper body of the patient. In addition, the lifting belt 93 extends long and is fixed by being hooked on the belt fixing part 83 described above. When the lifting arm 65 is lifted upward while the lifting belt 93 is fixed to the hanger 80, the patient is lifted.

Steps of using the walking rehabilitation training robot 10 having the above configuration, as shown in Fig.8, the harness wearing step, the hanger advance and descend step, the harness connection step, the hanger raising and retreating step, the patient positioning step, the maintenance lifting force It consists of an input step, a load display step, and a rehabilitation training step.

The harness wearing step is a process in which, for example, a patient sitting in a wheelchair wears a harness. The harness is worn on the hips and upper body, and can be easily worn with the help of a physical therapist.

When the wheelchair of the patient wearing the harness arrives in front of the walking rehabilitation robot 10, the hanger 80 is lowered and advanced as much as possible, and then the lifting belt 93 is fastened to the hanger 80.

When the lifting belt is completely fixed to the belt fixing part 83, the boom 63 is rotated in the direction of arrow a in FIG. 4 and the lifting arm 65 is moved in the direction of arrow c. That is, the hanger is raised and retracted. Fig. 5 shows a state in which the hanger is completely raised, and Fig. 6 shows a state in which the raised hanger is retreated.

Through the above process, the patient sitting in a wheelchair is lifted while being suspended from the hanger 80 and positioned above the footrest 43k. Then, the left leg and the right leg of the patient are coupled to both lower limb exercise parts 43.

During this process, the load sensing unit 70 continuously senses the load, and the load display unit 27 displays the weight applied to the hanger 80.

The maintenance lifting force input step following the patient positioning step is a process of reducing the weight burden of the patient by adjusting the force to lift the harness. For example, if the patient's weight is 60kg, if a lifting force of 20kg is provided, the load applied to the patient's leg is 40kg, which reduces the load of 20kg. Depending on the patient's condition, when there is little power in the leg, it is possible to lower the patient's exercise load by increasing the holding and lifting force.

The amount of the holding and lifting force is achieved through height adjustment of the hanger 80. When the hanger rises high, the position of the patient wearing the harness 90 also increases, and the load applied to the leg decreases. For example, when the hanger 80 is raised very high and the patient's foot is separated from the footrest 43k, there is no load applied to the patient's leg. In addition, when the hanger is lowered to the extent that tension is not applied to the lifting belt 93, the patient's weight is transferred to the leg as it is.

The required maintenance lifting force for each patient is input in advance through the input/output unit 29, and is automatically applied when the gait rehabilitation training robot 10 is used.

7 is a state in which the hanger 80 is lowered to an appropriate height, and a patient wearing a harness performs rehabilitation training while being supported by the hanger. As long as the patient's harness 90 is hung on the hanger 80, there is no fear of the patient falling forward.

In order to use the patient weight reduction device according to the present embodiment described above, first, the required weight reduction amount is input to the control unit 25 using the input/output unit 29. In other words, while entering patient information, the required weight reduction amount is also entered. If the patient's weight is 60 kg and the required weight reduction amount is entered as 20 kg, the lift device 60 will provide a lifting station of 20 kg to the harness 90.

After the above process is completed, when the first and second linear actuators 64 and 67 are operated while wearing the harness 90 on the patient and fixing the harness 90 to the hanger 80, the first and second linear actuators ( 64 and 67 are automatically operated under the control of the controller 25b to place the patient on the upper part of the footrest 43k. It goes without saying that the required lifting capacity is reflected at this time. In other words, a lighter weight than the patient's original weight is carried on the patient's leg. In this state, the physical therapist couples the left and right legs of the patient to the lower extremity exercise unit 43 and starts rehabilitation training.

In the above, the present invention has been described in detail through specific embodiments, but the present invention is not limited to the above embodiments, and various modifications are possible by those of ordinary skill within the scope of the technical idea of the present invention.

10: gait rehabilitation training robot 20: body 21: base frame
22a: motor 22b: drive wheel 22c: auxiliary wheel
23: body frame 23a: case 23b: battery
25: control unit 25a: fixed box 25b: control unit
25c: elevating guide rail 27: load display unit 29: input/output unit
40: motion motion output unit 41: position holding unit 41a: vertical slider
41b: horizontal guide rail 41c: horizontal slider 41d: connecting arm
43: lower extremity exercise part 43a: first joint block 43b: first motor
43c: first rotating arm 43d: thigh holder 43e: second joint block
43f: second motor 43g: second rotating arm 43h: lower leg holder
43k: footrest 45: waist rest 46: armrest
47: driving control stick 60: lift device 61: support beam
61a: lower fixing plate 61b: upper fixing plate 61c: boom holder
61d: Link pin 61e: Support bracket 63: Boom
63a: guide rail 63b: link bracket 64: first linear actuator
64a: motor 64b: extension tube 65: lifting arm
65a: arm body 65b: slider 67: second linear actuator
67a: Motor 67b: Extension tube 67c: Operating rod
70: load sensing unit 71: eye bolt 73: bearing
74: connection block 75: connection pin 80: hanger
81: horizontal bar 83: belt fixing portion 83a: support housing
83b: Inner space 83c: Releasing button 83d: Rotating jaw
83e: locking projection 90: harness 91: harness body
93: lifting belt

Claims (5)

A body having a control unit, an exercise motion output unit that is supported by the body and outputs a walking motion motion while being filled in both legs of the patient, and is installed on the upper part of the exercise motion output unit and provides a lifting force to the patient to the patient's legs. It is mounted on a walking rehabilitation training robot having a lift device that reduces the transmitted weight burden,
A load sensing unit mounted on the lift device to sense the weight of a patient applied to the lift device;
It is connected to the load sensing unit and includes a load display unit for displaying the content detected by the load sensing unit,
In the lift device, a patient weight burden reduction device of a walking rehabilitation training robot provided with an actuator for lifting a patient by receiving a control signal from the control unit. The method of claim 1,
A device for reducing patient weight burden of a gait rehabilitation training robot further comprising an input/output unit connected to the control unit and inputting a required lifting force according to the patient's condition to allow the control unit to control the operation of the actuator. The method of claim 2,
The lift device;
A support beam fixed to the main body and extending upward, a boom that is linearly extended in the longitudinal direction and has a guide rail at the top thereof and is rotatably linked to the support beam through a link pin, and the length of the guide rail by being coupled to the guide rail A lifting arm slidably movable along a direction, and a hanger connected to the distal end of the lifting arm and transferring the patient's weight to the lifting arm,
The actuator is;
A first linear actuator for sliding the lifting arm while mounted on the boom, and a second linear actuator for lifting the hanger by rotating the boom based on a link pin,
The load sensing unit is a load cell that is installed between the lifting arm and the hanger and detects the weight of a patient caught on the hanger. The method of claim 3,
The hanger takes the form of a bar extending in the longitudinal direction, and a belt fixing part for fixing a lifting belt of a patient harness is provided at both ends of the hanger, a device for reducing patient weight burden of a walking rehabilitation robot. The method of claim 4,
The belt fixing part;
A support housing extending relatively longer than the width of the lifting belt and having an internal space,
A releasing button provided at one end of the support housing,
It waits in a state inserted into the support housing, rotates upward when the releasing button is pressed, and rotates downward while the belt has passed to the top of the support housing, and is inserted into the support housing together with the belt, and the belt is fixed to the support housing. A device for reducing the patient's weight burden of a gait rehabilitation training robot that includes a rotating jaw to make it.

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